Lead-Through - ABB OmniCore S Series Operating Manual

5 Jogging

5.6 Lead-through

5.6 Lead-through
What is lead-through?
The lead-through functionality is available for YuMi robots.
Using lead-through, you can grab the robot arm and move it manually to a desired
position, as an alternative to jogging.
Using lead-through
Use the following procedure to jog the robot using the lead-through functionality:
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1 Enable lead-through in one of the following ways:
• Press the thumb button on the FlexPendant.
• On the start screen, tap Jog and in the Jog app, select the
Lead-through menu.
• In Quick settings, select the Jog tab.
Note
If the robot is in motors off state, it will automatically go to the motors on
state when the lead-through is enabled.
2 Gently pull the robot arm to the desired position.
The robot arm moves along the path.
Note
You can feel if an axis reaches its end position. Do not try to force the axis
beyond this position.
Note
If lead-through is enabled, it will be temporarily disabled during program execution
and jogging. This means that it is possible to combine lead-through, jogging,
and testing the RAPID program without having to disable the lead-through.
Note
When using lead-through, it is important that the load is correctly defined. If the
load is heavier than defined, the effect will be the same as if you are pulling the
robot arm downwards. If the load is lighter than the defined load, the effect will
be the same as if you are pulling the robot arm upwards.
Note
For Yumi robots with SafeMove, some different behaviors apply, see the product
manual for the robot.
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Operating manual - OmniCore
3HAC065036-001 Revision: E